/Engine/Source/Runtime/Experimental/Chaos/Public/Chaos/EPA.h
Expanding Polytope Algorithm for finding the contact point for overlapping convex polyhedra. See e.g., "Collision Detection in Interactive 3D Environments" (Gino van den Bergen, 2004) or "Real-time Collision Detection with Implicit Objects" (Leif Olvang, 2010)
namespace Chaos { template<typename T, typename TSupportA, typename TSupportB> [EEPAResult](API\Runtime\Chaos\Chaos\Chaos__EEPAResult) Chaos::EPA ( [TArray](API\Runtime\Core\Containers\TArray)< [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T >> & VertsABuffer, [TArray](API\Runtime\Core\Containers\TArray)< [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T >> & VertsBBuffer, const TSupportA & SupportA, const TSupportB & SupportB, T & OutPenetration, [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T > & OutDir, [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T > & WitnessA, [TVec3](API\Runtime\ChaosCore\Chaos\TVec3)< T > & WitnessB, const [FReal](API\Runtime\ChaosCore\Chaos\FReal) Eps ) }